Fixed Michael's c++ trubbles.
parent
72ba1bee24
commit
db0d7286c2
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@ -19,21 +19,21 @@ template class BayesTree<GaussianConditional>;
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namespace gtsam {
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/* ************************************************************************* */
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void optimize(GaussianBayesTree::sharedClique clique, VectorConfig& result) {
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#if 0
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void optimize(const GaussianBayesTree::sharedClique& clique, VectorConfig& result) {
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// parents are assumed to already be solved and available in result
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BOOST_REVERSE_FOREACH(GaussianConditional::shared_ptr cg, clique) {
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GaussianBayesTree::Clique::const_reverse_iterator it;
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for(it = clique->rend(); it!=clique->rbegin(); it++) {
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GaussianConditional::shared_ptr cg = *it;
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Vector x = cg->solve(result); // Solve for that variable
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result.insert(cg->key(),x); // store result in partial solution
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}
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BOOST_FOREACH(GaussianBayesTree::sharedClique child, clique->children_) {
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optimize(child, result);
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}
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#endif
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}
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/* ************************************************************************* */
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VectorConfig optimize(GaussianBayesTree& bayesTree) {
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VectorConfig optimize(const GaussianBayesTree& bayesTree) {
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VectorConfig result;
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// starting from the root, call optimize on each conditional
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optimize(bayesTree.root(), result);
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@ -26,9 +26,9 @@ namespace gtsam {
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typedef BayesTree<GaussianConditional> GaussianBayesTree;
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// recursively optimize this conditional and all subtrees
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void optimize(GaussianBayesTree::sharedClique clique, VectorConfig& result);
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void optimize(const GaussianBayesTree::sharedClique& clique, VectorConfig& result);
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// optimize the BayesTree, starting from the root
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VectorConfig optimize(GaussianBayesTree& bayesTree);
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VectorConfig optimize(const GaussianBayesTree& bayesTree);
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}/// namespace gtsam
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@ -262,12 +262,13 @@ TEST( BayesTree, iSAM_smoother )
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for (int t = 1; t <= 7; t++) ordering += symbol('x', t);
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GaussianBayesTree expected(smoother.eliminate(ordering));
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// obtain solution
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VectorConfig expected_optimized; // no clue...
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VectorConfig optimized = optimize(actual);
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CHECK(assert_equal(expected_optimized, optimized));
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// Check whether BayesTree is correct
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CHECK(assert_equal(expected, actual));
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// obtain solution
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//VectorConfig expected_optimized; // no clue...
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//VectorConfig optimized = optimize(actual);
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//CHECK(assert_equal(expected_optimized, optimized));
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}
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/* ************************************************************************* */
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